Subversion Repositories FlightCtrl

Rev

Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
21 user 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
 
5
#ifndef _FC_H
6
#define _FC_H
7
 
8
extern volatile unsigned char Timeout;
9
extern unsigned char Sekunde,Minute;
10
extern volatile long IntegralNick,IntegralNick2;
11
extern volatile long IntegralRoll,IntegralRoll2;
12
extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
13
extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
14
extern volatile long Mess_Integral_Hoch;
15
extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
16
extern volatile int  KompassValue;
17
extern volatile int  KompassStartwert;
18
extern volatile int  KompassRichtung;
19
extern int HoehenWert;
20
extern int SollHoehe;
21
extern volatile int MesswertNick,MesswertRoll,MesswertGier;
22
extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
23
extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
24
extern volatile float NeutralAccZ;
25
 
26
 
27
void MotorRegler(void);
28
void SendMotorData(void);
29
void CalibrierMittelwert(void);
30
void Mittelwert(void);
31
void SetNeutral(void);
32
 
33
unsigned char h,m,s;
34
volatile unsigned char Timeout ;
35
unsigned char CosinusNickWinkel, CosinusRollWinkel;
36
volatile long IntegralNick,IntegralNick2;
37
volatile long IntegralRoll,IntegralRoll2;
38
volatile long Integral_Gier;
39
volatile long Mess_IntegralNick,Mess_IntegralNick2;
40
volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
41
volatile long Mess_Integral_Gier;
42
volatile int  DiffNick,DiffRoll;
43
extern int  Poti1, Poti2, Poti3, Poti4;
44
volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
45
unsigned char MotorWert[5];
46
volatile unsigned char SenderOkay;
47
int StickNick,StickRoll,StickGier;
48
char MotorenEin;
49
extern void DefaultKonstanten(void);
50
 
51
#define  STRUCT_PARAM_LAENGE  58
52
struct mk_param_struct
53
 {
54
   unsigned char Kanalbelegung[8];        // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
55
   unsigned char GlobalConfig;            // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
56
   unsigned char Hoehe_MinGas;            // Wert : 0-100
57
   unsigned char Luftdruck_D;             // Wert : 0-250
58
   unsigned char MaxHoehe;                // Wert : 0-32
59
   unsigned char Hoehe_P;                 // Wert : 0-32
60
   unsigned char Hoehe_Verstaerkung;      // Wert : 0-50
61
   unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
62
   unsigned char Stick_P;                // Wert : 1-6
63
   unsigned char Stick_D;                // Wert : 0-64
64
   unsigned char Gier_P;                 // Wert : 1-20
65
   unsigned char Gas_Min;                // Wert : 0-32
66
   unsigned char Gas_Max;                // Wert : 33-250
67
   unsigned char GyroAccFaktor;          // Wert : 1-64
68
   unsigned char KompassWirkung;         // Wert : 0-32
69
   unsigned char Gyro_P;                 // Wert : 10-250
70
   unsigned char Gyro_I;                 // Wert : 0-250
71
   unsigned char UnterspannungsWarnung;  // Wert : 0-250
72
   unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
73
   unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
74
   unsigned char UfoAusrichtung;         // X oder + Formation
75
   unsigned char I_Faktor;               // Wert : 0-250
76
   unsigned char UserParam1;             // Wert : 0-250
77
   unsigned char UserParam2;             // Wert : 0-250
78
   unsigned char UserParam3;             // Wert : 0-250
79
   unsigned char UserParam4;             // Wert : 0-250
80
   unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
81
   unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
82
   unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
83
   unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
84
   unsigned char ServoNickRefresh;       // Wert : 0-250     // Richtung Einfluss Gyro/Servo
85
   unsigned char ServoNickCompInvert;    // Wert : 0-250     // Richtung Einfluss Gyro/Servo
86
   unsigned char Reserved[7];
87
   char Name[12];
88
 };
89
 
90
 
91
 
92
 
93
extern struct mk_param_struct EE_Parameter;
94
 
95
extern unsigned char Parameter_Luftdruck_D;
96
extern unsigned char Parameter_MaxHoehe;
97
extern unsigned char Parameter_Hoehe_P;
98
extern unsigned char Parameter_Hoehe_ACC_Wirkung;
99
extern unsigned char Parameter_KompassWirkung;
100
extern unsigned char Parameter_Gyro_P;
101
extern unsigned char Parameter_Gyro_I;
102
extern unsigned char Parameter_Gier_P;
103
extern unsigned char Parameter_ServoNickControl;
104
 
105
#endif //_FC_H
106